3DPro: Querying Complex Three-Dimensional Data with Progressive Compression and Refinement.

Proceedings of the 2011 joint ACM workshop on Human gesture and behavior understanding

Developing a three-dimensional (3D) data model for Geographic Information Systems (GIS) is an essential and complex issue. 3D modelling in GIS is becoming ever more important for the development of cyber cities and digital earth, which have recently become feasible. A competent 3D model forms an efficient foundation for 3D visualization, query and spatial analysis. As a development of the existing 3D models, this study proposes particular improvements in handling complex 3D objects. We present an object-oriented data model for handling complex 3D objects in GIS. First, the conceptual data model is developed based on the principle of object-oriented (OO) data modelling. This model is designed based on the following three basic geometric elements: node, segment and triangle. Accordingly, the abstract geometric objects are defined: including points, lines, surfaces and volumes. Second, the corresponding 3D logical model is designed based on the defined abstract objects and the relationships between them. Third, a formal representation of the 3D spatial objects is described in detail. Fourth, a prototype 3D GIS is developed based on the proposed 3D data model. Finally, we describe the results of an experimental study to reconstruct 3D objects using this 3D GIS and a comparison with the performance of other 3D data models. The proposed model is able to handle complex objects, such as complex buildings and TV towers, which is an essential functionality for building large-scale cyber cities, such as for Hong Kong. The proposed data model proves to be very efficient, particularly in visualization and rendering. The experimental results show which the data volume of the proposed model is compacted and the visualization speed for 3D objects is improved, compared with the existing models.

Due to the recent enriched micro-level hardware and advanced computer software technology, portable yet powerful smart devices draw fervent responses from users and consequently the world’s smart device market has been rapidly expanded. In addition, since smart devices can be used anytime and anywhere using the wireless internet environment, the traditional PC-oriented works are swiftly moving to smart devices. Recently, the demands for representing more realistic 3D deformable objects have been increased for smart device based 3D game, virtual reality, 3D mobile advertisement, augmented reality and so on. However, current smart devices cannot sufficiently process the details of complex 3D object representation and associated physics based animation yet. This paper proposes a new optimized 3D object simulation and collision handling method specifically targeted for smart devices. The proposed hierarchical bounding sphere FFD- AABB (Free Form Deformation -- Axis Aligned Bounding Box) algorithm provides efficient 3D object simulation, since it quickly rejects unnecessary complex collision tasks by executing simple hierarchical bounding sphere distance tests. We have conducted experimental tests under various iOS environments and have performed comparative performance analysis with previous methods. The proposed method shows on average 34% improvement in dynamic simulation and collision handling procedures.

For many automated driving functions, a highly accurate perception of the vehicle environment is a crucial prerequisite. Modern high-resolution radar sensors generate multiple radar targets per object, which makes these sensors particularly suitable for the 2D object detection task. This work presents an approach to detect 2D objects solely depending on sparse radar data using PointNets. In literature, only methods are presented so far which perform either object classification or bounding box estimation for objects. In contrast, this method facilitates a classification together with a bounding box estimation of objects using a single radar sensor. To this end, PointNets are adjusted for radar data performing 2D object classification with segmentation, and 2D bounding box regression in order to estimate an amodal 2D bounding box. The algorithm is evaluated using an automatically created dataset which consist of various realistic driving maneuvers. The results show the great potential of object detection in high-resolution radar data using PointNets.

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The data volume of Web3D representation based on polygon meshes is so large that transferring practical data fast is a difficult problem. This paper proposes 3D object structure, a new framework for a compact 3D representation with high quality surface shape. By utilizing a free form surface technique, qualified surfaces are transferred with limited amount of data size and rendered. 3D graphic structure can be regarded as both polygon meshes and free form surfaces. Therefore, it can be easily integrated to existing Web3D data formats, for example VRML & XML. The 3D object’s structure also enables modeling free form surface shapes intuitively with polygon modeling like operations. In this paper, we propose and verify an algorithm on representation of 3D objects using X3D.

Abstract. The storage of spatial data that consists of spatial and non-spatial properties requires a database management system that possesses spatial functions that can cater to the spatial characteristics of data. These characteristics include the geometrical shape, topological and positional information. Parallel to how geometries describe the shape of an object, topological information is also an important spatial property which describes how the geometries in a space are related to each other. This information describes the connectivity, containment and adjacencies of spatial objects which are the foundation for more complex analysis such as navigation, data reconstruction, spatial queries and others. However, the topological support provided by spatial databases varies. This paper provided an overview on the current implementations of topological support in spatial databases such as ArcGIS, QGIS, PostgreSQL and others. The native topology in most spatial databases was found to be 2D topology maintained by 2D topology rules with limited representation of 3D topological relationships. Consequently, 3D objects represented by 2D topology had to be decomposed into objects of lower dimensions. Approaches to implement additional topological support for spatial databases included the use of topological data models, data structures, operators, and rules. 3D applications such as 3D cadastre required more detailed representations of topological information which required a more comprehensive 3D topological data model. Nonetheless, comprehensive preservation of topological information also mandates voluminous storage and higher computational efficiency. Thus, the appropriate 3D topological support should be provided in spatial databases to accurately represent 3D objects and meet 3D analysis requirements.

In order to establish the city three-dimensional Geographic Information System, combine with the current emerging technologies of three-dimensional Geographic Information System, to explore a new method to open out 3D GIS by integrating Google SketchUp and ArcGIS. The results show that: Google SketchUp combine with ArcGIS can set up the 3D city model quickly, however, the 3D spatial query and analysis functions of GIS is difficult to achieve, can only choose C#.NET as the development platform and ArcGIS Engine as software development kit, to realize some functions such as three-dimensional roaming, integrated query, buffer analysis, underground pipeline explosion analysis, etc.; The results may have some reference value in the three-dimensional spatial data model and data structure, three-dimensional spatial data management and spatial data analysis and visualization of expression.

Multiple representation approach to achieve high-performance spatial queries of 3D BIM data using a relational database

Many fields are currently investigating the use of convolutional neural networks to detect specific objects in three-dimensional data. While algorithms based on three-dimensional data are more stable and insensitive to lighting conditions than algorithms based on two-dimensional image data, they require more computation than two-dimensional data, making it difficult to drive CNN algorithms using three-dimensional data in lightweight embedded systems. In this paper, we propose a method to process three-dimensional data through a simple algorithm instead of complex operations such as convolution in CNN, and utilize its physical characteristics to generate ROIs to perform a CNN object detection algorithm based on two-dimensional image data. After preprocessing the LiDAR point cloud data, it is separated into individual objects through clustering, and semantic detection is performed through a classifier trained based on machine learning by extracting physical characteristics that can be utilized for semantic detection. The final object recognition is performed through a 2D-based object detection algorithm that bypasses the process of tracking bounding boxes by generating individual 2D image regions from the location and size of objects initially detected by semantic detection. This allows us to utilize the physical characteristics of 3D data to improve the accuracy of 2D image-based object detection algorithms, even in environments where it is difficult to collect data from camera sensors, resulting in a lighter system than 3D data-based object detection algorithms. The proposed model achieved an accuracy of 81.84% on the YOLO v5 algorithm on an embedded board, which is 1.92% higher than the typical model. The proposed model achieves 47.41% accuracy in an environment with 40% higher brightness and 54.12% accuracy in an environment with 40% lower brightness, which is 8.97% and 13.58% higher than the general model, respectively, and can achieve high accuracy even in non-optimal brightness environments. The proposed technique also has the advantage of reducing the execution time depending on the operating environment of the detection model.

The amount of publicly available Spatio-temporal (ST) data is growing daily and possesses an increasing degree of complexity in more and more use cases. Besides spatial queries such as intersection, the requirements of current applications like Digital Twins (DT) go beyond the limits of a single data processing platform and need to combine a variety of queries with filtering ( e.g., k -NN), aggregation (e.g., counting), ranking (e.g., page-rank), clustering (e.g., k-means, ST-DBSCAN) and more, on ST-models. Since existing ST-platforms are highly specialized for a subset of these operations, it seems logical to distribute the data and queries across several of these systems. However, efficient p rocessing a cross d ifferent s ystems i s still a major challenge in polyglot data management and often demands manual query planning. To solve the automatic planning of those complex queries, we present an approach for cross-platform processing of ST-tasks that uses a symmetric join to handle platform heterogeneity and includes a novel algorithm for operator placement based on a latency model. Although the underlying problem is NP-hard and additional network transfers slow down the overall processing time, experiments on real-world tasks for DTs have shown that cross-platform processing can speed up well-known ST-tasks compared to the expensive query reformulations performed by state-of-the-art ST single-platform solutions.

Monocular 3D object detection using dual quadric for autonomous driving

We present a hybrid approach to generate plausible motions for high-DOF human-like articulated figures in constrained environment with multiple obstacles. The method combines motion planning and motion blending techniques to efficiently produce natural and collision-free human motion for different tasks.

This paper presents a novel approach to recognize and estimate pose of the 3D objects in cluttered range images. The key technical breakthrough of the developed approach can enable robust object recognition and localization under undesirable condition such as environmental illumination variation as well as optical occlusion to viewing the object partially. First, the acquired point clouds are segmented into individual object point clouds based on the developed 3D object segmentation for randomly stacked objects. Second, an efficient shape-matching algorithm called Sub-OBB based object recognition by using the proposed oriented bounding box (OBB) regional area-based descriptor is performed to reliably recognize the object. Then, the 3D position and orientation of the object can be roughly estimated by aligning the OBB of segmented object point cloud with OBB of matched point cloud in a database generated from CAD model and 3D virtual camera. To detect accurate pose of the object, the iterative closest point (ICP) algorithm is used to match the object model with the segmented point clouds. From the feasibility test of several scenarios, the developed approach is verified to be feasible for object pose recognition and localization.

Spatial data structures form a core ingredient of many geometric algorithms, both in theory and in practice. Many of these data structures, especially the ones used in practice, are based on partitioning the underlying space (examples are binary space partitions and decompositions of polygons) or partitioning the set of objects (examples are bounding-volume hierarchies). The efficiency of such data structures---and, hence, of the algorithms that use them---depends on certain characteristics of the partitioning. For example the performance of many algorithms that use binary space partitions (BSPs) depends on the size of the BSPs. Similarly, the performance of answering range queries using bounding-volume hierarchies (BVHs) depends on the so-called crossing number that can be associated with the partitioning on which the BVH is based. Much research has been done on the problem of computing partitioning whose characteristics are good in the worst case. In this thesis, we studied the problem from a different point of view, namely instance-optimality. In particular, we considered the following question: given a class of geometric partitioning structures---like BSPs, simplicial partitions, polygon triangulations, …---and a cost function---like size or crossing number---can we design an algorithm that computes a structure whose cost is optimal or close to optimal for any input instance (rather than only worst-case optimal). We studied the problem of finding optimal data structures for some of the most important spatial data structures. As an example having a set of n points and an input parameter r, It has been proved that there are input sets for which any simplicial partitions has crossing number ¿(vr). It has also been shown that for any set of n input points and the parameter r one can make a simplicial partition with stabbing number O(vr). However, there are input point sets for which one can make simplicial partition with lower stabbing number. As an example when the points are on a diagonal, one can always make a simplicial partition with stabbing number 1. We started our research by studying BSPs for line segments in the plane, where the cost function is the size of the BSPs. A popular type of BSPs for line segments are the so-called auto-partitions. We proved that finding an optimal auto-partition is NP-hard. In fact, finding out if a set of input segments admits an auto-partition without any cuts is already NP-hard. We also studied the relation between two other types of BSPs, called free and restricted BSPs, and showed that the number of cuts of an optimal restricted BSP for a set of segments in R2 is at most twice the number of cuts of an optimal free BSP for that set. The details are being represented in Chapter 1 of the thesis. Then we turned our attention to so-called rectilinear r-partitions for planar point sets, with the crossing number as cost function. A rectilinear r-partition of a point set P is a partitioning of P into r subsets, each having roughly |P|/r points. The crossing number of the partition is defined using the bounding boxes of the subsets; in particular, it is the maximum number of bounding boxes that can be intersected by any horizontal or vertical line. We performed some theoretical as well as experimental studies on rectilinear r-partitions. On the theoretical side, we proved that computing a rectilinear r-partition with optimal stabbing number for a given set of points and parameter r is NP-hard. We also proposed an exact algorithm for finding optimal rectilinear r-partitions whose running time is polynomial when r is a constant, and a faster 2-approximation algorithm. Our last theoretical result showed that considering only partitions whose bounding boxes are disjoint is not sufficient for finding optimal rectilinear r-partitions. On the experimental side, we performed a comparison between four different heuristics for constructing rectilinear r-partitions. The so-called windmill KD-tree gave the best results. Chapter 2 of the thesis describes all the details of our research on rectilinear r-partitions. We studied another spatial data structure in Chapter 3 of the thesis. Decomposition of the interior of polygons is one of the fundamental problems in computational geometry. In case of a simple polygon one usually wants to make a Steiner triangulation of it, and when we have a rectilinear polygon at hand, one typically wants to make a rectilinear decomposition for it. Due to this reason there are algorithms which make Steiner triangulations and rectangular decompositions with low stabbing number. These algorithms are worst-case optimal. However, similar to the two previous data structures, there are polygons for which one can make decompositions with lower stabbing numbers. In 3 we proposed a 3-approximation for finding an optimal rectangular decomposition of a rectilinear polygon. We also proposed an O(1)-approximation for finding optimal Steiner triangulation of a simple polygon. Finally, in Chapter 4 of the thesis, we considered another optimization problem, namely how to approximate a piecewise-linear function F: R ¿R with another piecewise-linear function with fewer pieces. Here one can distinguish two versions of the problem. The first one is called the min-k problem; the goal is then to approximate the function within a given error e such that the resulting function has the minimum number of links. The second one is called the min-e problem; here the goal is to find an approximation with at most k links (for a given k) such that the error is minimized. These problems have already been studied before. Our contribution is to consider the problem for so-called uncertain functions, where the value of the input function F at its vertices is given as a discrete set of different values, each with an associated probability. We show how to compute an approximation that minimizes the expected error.